Colony

#ifndef _VALID_TURNS_

#define _VALID_TURNS_

#include "lineFollow.h"

#include "lineDrive.h"

//To differenciate between T and Cross Intersections

#define DOUBLE_C        4

#define DOUBLE_T        5

//DOUBLE intersection (Cross Intersection) positions

//use T-Junction positions

//DOUBLE intersection (T-Junction) positions

/*

TLEFT=======TRIGHT

        ||

        ||

        ||

        TMIDDLE

*/

#define TLEFT                0                        

#define TRIGHT                1                        

#define TMIDDLE                2

//SINGLE intersection positions

/*

           /\

          /||\

           ||

SACROSS==========>

           ||

           ||

           ||

           SUP

*/

#define SACROSS                0

#define SUP                1

//ON_RAMP and OFF_RAMP intersection positions

/*

R_LEFT================R_RIGHT

            ||        

            ||

            ||

          R_RAMP

*/

#define R_LEFT                0

#define R_RIGHT                1

#define R_RAMP                2

int getCrossType(int barcode);

int getCrossPos(int barcode, int max);

int getTurnType();

int validateTurn(int barcode);

#endif